/home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSNavLibGlobalHelper.h

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//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Basic (Common) Application. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program is distributed in the hope that it will be useful, 
//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//

#ifndef MOOSNavLibGlobalHelperh
#define  MOOSNavLibGlobalHelperh

#include "math.h"
#include <string>
using namespace std;
#include <newmat.h>
using namespace NEWMAT;

#ifndef PI
#define PI 3.141592653589
#endif

bool MOOSGetJacobian(Matrix & J,
                 const Matrix & XAbout,
                 int nOut,
                 int nIn,
                 bool (*pfn)(Matrix & XOut,Matrix & XIn,void *pParam),
                 void * pParam
                 );

void   MOOSMatrixTrace(const Matrix & Mat,const string & sStr ="");

double MOOS_WRAP_ANGLE(double d, bool Radians =true);


bool MOOSChiSquaredTest(Matrix &Innovation, Matrix &Cov, bool bAlreadyInverted=false);

#endif